Contact Resting - Quadratic Programming
hi guys
I'm looking for a fast QP solver for my physic's implementation with friction (for the contact resting, specifically). Is there a "standard algorithm" for that?
Thx
Hi,
You probably want to go with an iterative approach(at least to start off with). A good description of iterative solutions to the contact problem(eg SOR etc) is:
http://www.diku.dk/forskning/image/publications/erleben.html
Especially: http://www.diku.dk/~kenny/thesis.pdf
Alternativly there are more accurate direct methods, but they tend to run in polynomial time. (search for dantzig LCP etc). One site to check out is:
http://ioe.engin.umich.edu/people/fac/books/murty/linear_complementarity_webbook/
Which discusses a multitude of methods for solving LCPs(the subclass of quadratic programs needed for contact resolution).
David
You probably want to go with an iterative approach(at least to start off with). A good description of iterative solutions to the contact problem(eg SOR etc) is:
http://www.diku.dk/forskning/image/publications/erleben.html
Especially: http://www.diku.dk/~kenny/thesis.pdf
Alternativly there are more accurate direct methods, but they tend to run in polynomial time. (search for dantzig LCP etc). One site to check out is:
http://ioe.engin.umich.edu/people/fac/books/murty/linear_complementarity_webbook/
Which discusses a multitude of methods for solving LCPs(the subclass of quadratic programs needed for contact resolution).
David
thx for reply David :)
But i'm totally ignorant about that and not very concerned about "how to solve quadratic programming" right now.
I googled several times for LCP implemented algorithms but i didn't find :/ Do you know where i can find an implemented of LCP algorithm?
But i'm totally ignorant about that and not very concerned about "how to solve quadratic programming" right now.
I googled several times for LCP implemented algorithms but i didn't find :/ Do you know where i can find an implemented of LCP algorithm?
Quote:Original post by Jungle Boy
thx for reply David :)
But i'm totally ignorant about that and not very concerned about "how to solve quadratic programming" right now.
I googled several times for LCP implemented algorithms but i didn't find :/ Do you know where i can find an implemented of LCP algorithm?
ODE implements LCP, and is a complete physics engine. It's free and open source, see www.ode.org. Minimally, examining the source will give you an idea of what it takes to develop a physics engine. There are other free physics engines, though it's not clear if they are also open source.
Dave Eberley's "Game Physics" book comes with a LCP solver
Edit: Source code is here:
http://www.geometrictools.com/Physics.html
Edit: Source code is here:
http://www.geometrictools.com/Physics.html
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